From fe6ca9afa3338b995304d9857f0e41f50c68d13c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 21 Feb 2019 14:02:29 +1100 Subject: [PATCH] Tracker: add support for mavlink set-home-position --- AntennaTracker/GCS_Mavlink.cpp | 7 +++++++ AntennaTracker/GCS_Mavlink.h | 4 ++-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index 458d466145..a6676b4bb4 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -369,6 +369,13 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command } } +bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool lock) { + return tracker.set_home(AP::gps().location()); +} +bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool lock) { + return tracker.set_home(loc); +} + void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h index 5340ba008b..1c8e3e8b11 100644 --- a/AntennaTracker/GCS_Mavlink.h +++ b/AntennaTracker/GCS_Mavlink.h @@ -28,8 +28,8 @@ protected: return 0; // what if we have been picked up and carried somewhere? } - bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; } - bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; } + bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; + bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED; uint64_t capabilities() const override; void send_nav_controller_output() const override;